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Update Arm.java

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This commit is contained in:
Aarav Shah
2023-03-14 15:25:53 -06:00
committed by GitHub
parent 893d0b8ba1
commit e4e90ff91f
1 changed files with 2 additions and 44 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+2 -44
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@@ -32,51 +32,11 @@ public class Arm extends SubsystemBase {
m_pivot.configFactoryDefault();
// * Example of deferred code
// new DeferredBlock(() -> resetTeleSoftLimit());
// TalonFXConfiguration pivotConfig = new TalonFXConfiguration();
// pivotConfig.slot0.kP = 0.5;//ArmConstants.kP;
// pivotConfig.slot0.kI = 0.0;//ArmConstants.kI;
// pivotConfig.slot0.kD = 0.0;//ArmConstants.kD;
// pivotConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
// pivotConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
// pivotConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
// m_pivot.configAllSettings(pivotConfig);
// resetTeleSoftLimit();
new DeferredBlock(() -> resetTeleSoftLimit());
CANCoderConfiguration config = new CANCoderConfiguration();
config.magnetOffsetDegrees = ArmConstants.OFFSET;
m_pivotEncoder.configAllSettings(config);
// m_pivot.configFactoryDefault();
// m_pivot.clearStickyFaults();
// m_pi
SmartDashboard.putNumber("kP Pivot", 0);
SmartDashboard.putNumber("kI Pivot", 0);
SmartDashboard.putNumber("kD Pivot", 0);
SmartDashboard.putData("Set PID", new InstantCommand(() -> {
TalonFXConfiguration pivotConfig_ = new TalonFXConfiguration();
pivotConfig_.slot0.kP = SmartDashboard.getNumber("kP Pivot", 0);
pivotConfig_.slot0.kI = SmartDashboard.getNumber("kI Pivot", 0);
pivotConfig_.slot0.kD = SmartDashboard.getNumber("kD Pivot", 0);
pivotConfig_.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
pivotConfig_.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
pivotConfig_.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
// pivotConfig_.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
// pivotConfig_.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
// pivotConfig_.configSelectedFeedbackFilter();// FeedbackDevice.RemoteSensor0;
m_pivot.configAllSettings(pivotConfig_);
// m_pivot.configRemoteFeedbackFilter(encoder.getDeviceID(), RemoteSensorSource.CANCoder, 0);
// m_pivot.configSelectedFeedbackSensor(FeedbackDevice.RemoteSensor0);
// m_pivot.selectProfileSlot(0, 0);
}));
SmartDashboard.putData("Kill Self", new InstantCommand(() -> {}, this));
}
public Arm(WPI_TalonFX pivot, WPI_TalonFX tele, CANCoder encoder) {
@@ -192,9 +152,7 @@ public class Arm extends SubsystemBase {
SmartDashboard.putBoolean("reverse", m_tele.isFwdLimitSwitchClosed() == 1);
double x = Math.cos(degrees);
// SwerveDriveConstants.ROTATION_SPEED = SwerveDriveConstants.MIN_ROT_SPEED + x * (SwerveDriveConstants.MAX_ROT_SPEED - SwerveDriveConstants.MIN_ROT_SPEED);
// if (m_debug)
// SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition());
SmartDashboard.putNumber("Pivot CANCoder", m_pivotEncoder.getAbsolutePosition());
SmartDashboard.putNumber("Pivot IntegratedSensor", m_pivot.getSelectedSensorPosition());
SmartDashboard.putNumber("Telescope Encoder", m_tele.getSelectedSensorPosition());